EP0820749A1 - Wheelchair with motor drive - Google Patents

Abstract

The chair has central, controllable drive wheels (25) and a three-armed foot (16) with pivoted rollers (18). Drive devices (26,27",28") are formed as longitudinal, inclined, or cross link axes (70-74). At least one spring/damping device (72) is provided opposite to the support components of the link axes, so that uneven formations on the ground and/or obstacles are compensated by the swingably located drive devices and at least partial traction. The spring/damping device is a gas pressure spring, which exerts a pressure on the drive wheel and at the same time permits a height compensation (h). The drive devices incorporate electric motors, the speed of which is selectively controllable individually or synchronously.

Description

The present invention relates to a wheelchair according to the preamble of claim 1.

Various multi-lane, motorized wheelchairs are known, which are driven by one or more central wheels. However, these allow due to the structural design their drives only a limited adjustment of the Driving wheels on bumps and ridges. In practice can use these wheelchairs without the help of nursing staff hardly any obstacles are overcome. As a result, they are not universally applicable and tend to be uncontrolled Tilt. Furthermore, they often have the disadvantage of being relative large turning radii and are usually either only for the Conceived indoors or outdoors.

It is therefore an object of the present invention to provide a wheelchair to create a universally applicable, high Stability and especially easy on site is rotatable. In addition, the wheelchair should over easily Drive away ground surveys such as thresholds, paragraphs, etc. can, without third parties having to support and / or lift it. A slightly disabled wheelchair user is also said to be can use this as a stand-up aid; Components of the Wheelchairs must not make it difficult to get up and sit down. The realized construction should also be largely maintenance-free be; the individual components should be standard parts can have, which can be exchanged by any mechanic are.

This object is preferred by the features of the claim 1 solved.

The vibratory drive means mentioned in the claim are pressed onto the floor by the spring damping device and result in good power transmission even with bumps, so that door thresholds and other obstacles easily are run over.

It is particularly beneficial if the floor bumps balancing, oscillating drive means in the area the center of gravity, i.e. preferably in the lot below of the center of gravity are movable and the associated Swing axes viewed in the direction of travel, in front of the support column the seat of the chair are arranged. This configuration also has the advantage of being caused by obstacles Bumps due to the relatively long pendulum travel of the drives, have only a minor impact on the driver and the drive wheels climb over the respective obstacle "caterpillar-like".

The wheelchair according to the invention provides i.a. even older ones slightly disabled people the necessary mobility in the familiar, not specially adapted environment, which is necessary is to reduce stays at home or at least in time to delay.

Advantageous further developments are in dependent claims characterized the subject of the invention.

The wheelchair according to claim 2 ensures an improved Friction of the drive wheels and allows safe Overcoming major obstacles.

The speed control according to claim 3 results in synchronous operation a straight ahead ride; individual control enables Cornering at appropriate speeds.

Disengaging the drive wheels or lifting them off the floor area allows easy maneuvering of the wheelchair by hand, for example pushing by nursing staff inside the house, cf. Claim 4.

A rotatable seat according to claim 5 results in another Increased comfort and ensures turning on site. - This can use in quasi-stationary workplaces allow by disabled people.

It is advantageous to according to the diameter of the rollers and wheels Claim 6 to choose.

In terms of the task, a wheelchair can be claimed 7 can be used as a stand-up aid; the deep location the center of gravity prevents it from falling over, or a Roll over.

In the same way, the embodiment according to claim 8 is advantageous it makes getting in and out easier.

The embodiment according to claim 9 ensures the use of individual control elements adapted to the disability.

A joystick according to claim 10 is particularly convenient.

Exemplary embodiments are described below with the aid of drawings of wheelchairs according to the invention described in more detail.

In all figures, the same functional parts are the same Provide reference numbers.

Fig. 1

eine erste Variante eines Rollstuhls in Vorderansicht,

Fig. 2

das Fusskreuz des Rollstuhls Fig. 1 mit einem, die Sitzfläche drehenden, Planetengetriebe,

Fig. 3

die Antriebseinheit des Rollstuhls Fig. 1,

Fig. 4

eine Schnittdarstellung der Antriebseinheit Fig. 1,

Fig. 5

eine zweite Variante eines Rollstuhls in Vorderansicht,

Fig. 6

den Rollstuhl Fig. 5 in Seitenansicht, in Teilschnittdarstellung,

Fig. 7

den Rollstuhl Fig. 5 in einer Ansicht von oben, bei abgenommener Sitzfläche,

Fig. 8

eine dritte Variante eines Rollstuhls in Vorderansicht,

Fig. 9

den Rollstuhl Fig. 8 in Seitenansicht, in Teilschnittdarstellung,

Fig. 10

den Rollstuhl Fig. 8 in einer Ansicht von oben, bei abgenommener Sitzfläche,

Fig. 11

eine vierte Variante eines Rollstuhls in teilweiser Vorderansicht, in Teilschnittdarstellung,

Fig. 12

den Rollstuhl Fig. 11 in Seitenansicht, in Teilschnittdarstellung und

Fig. 13

die linke, abklappbar ausgestaltete Seitenlehne der Rollstühle Fig. 5 bis Fig. 12.

Show it:

Fig. 1

a first variant of a wheelchair in front view,

Fig. 2

the base of the wheelchair Fig. 1 with a planetary gear rotating the seat,

Fig. 3

the drive unit of the wheelchair Fig. 1,

Fig. 4

2 shows a sectional illustration of the drive unit FIG. 1,

Fig. 5

a second variant of a wheelchair in front view,

Fig. 6

5 in side view, in a partial sectional view,

Fig. 7

5 in a view from above, with the seat removed,

Fig. 8

a third variant of a wheelchair in front view,

Fig. 9

8 in side view, in a partial sectional view,

Fig. 10

the wheelchair Fig. 8 in a view from above, with the seat removed,

Fig. 11

a fourth variant of a wheelchair in partial front view, in partial sectional view,

Fig. 12

the wheelchair Fig. 11 in side view, in partial section and

Fig. 13

the left, foldable side rest of the wheelchairs Fig. 5 to Fig. 12.

A wheelchair, such as that of an elderly person used in its familiar environment is in 1 with 1. A backrest 2 is like an office chair attached to a padded seat 3; as well Armrests 4 over supports 5 with spring clips 6.

Below the seat 3 there is a known one Shaped body 7, on which a mounting flange 8 with a Support column 9 is attached. The support column 9 is in a warehouse 10 guided with sealing flange on top; another camp is located in a support tube 11. Behind the support tube 11 there is an accumulator 12 in a support 13 commercially available charger with mains connection.

In front of the support tube 11 is a small drive motor in a horizontal position 14 flanged to a gear 15 for direct current operation. Below that is a 5-armed base 16 with five rotatable bearing yokes 17, which rollers 18 with Pick up roller axles 19.

In the center and rigidly connected to the seat 3 is one provided in its longitudinal axis sprung axis of rotation 20 which via a planetary gear described later Flange 21 is coupled to a drive support 22.

A differential 23 is arranged on the drive support 22, from this protrude drive shafts 24 on both sides, which Wear drive wheels 25.

On both supports 5 there are control connections 26 in the form of Plugs attached, which with any actuators are connectable.

In the illustration in FIG. 2, the base is viewed from above 16 with trunnions 17 'to see which rotates the bearing yokes 17 lead. The center of the base 16 is here marked with A. The one for moving in the azimuth direction provided drive motor 14, is here with the gear 15, which is partially drawn in a sectional view see. Is located between the two bearing flanges 15a and 15b a worm 29 which engages in a worm wheel 30 which is rigidly connected to a planet gear 33 that rolls in an internally toothed wheel 31. A in the center A Stored web 32 serves as a bearing for the two gears 30 and 33; the direction of movement - counterclockwise - is marked with an arrow and also refers to the chair above.

3, viewed from above, one can see the drive support 22 with the drive wheels 25 and one Traction motor 28, which has a motor flange 43 and fastening screws 44 on a gear housing 45 of a worm gear 27 is flanged. Is represented symbolically the motor fitting 43 '. Obviously there is an engine side Cylindrical roller bearing 41 and an opposite, Double-row angular contact ball bearing 40 with a worm axis 42 and the drive worm 34.

3 is a bore 21 'for the axis of rotation 20 with flange 21, cf. Fig. 1 to see. The gearbox 45 has a gear attachment 39 with four hexagon socket screws on.

Further details can be found in FIG. 4, here additionally the groove bearings 37 and shoulder bearings 37 ' Parts 24a and 24b are shown. Also lets the known type of design of the differential gear 23 with its vertical axis 36a and the four differential gears 36 seen. The drive 23 'located next to it shows again the drive worm 34, this time in a sectional view with their engagement in the worm wheel 35, which on a wedged to also known compensation housing 46 is.

It can easily be seen that the gears 23, 23 ' removable by loosening a mounting flange 38 with screws 38 ' are. The other parts can also be loosened can be dismantled by connecting screws 22 '.

The robust design of the wheelchair 1 also allows it Outdoor use. All storage locations are oversized and therefore almost maintenance-free. The wheelchair could therefore without major constructive changes to a "city business" be adjusted.

While a DC motor as a drive motor 14 for has proven the azimuth movement, it is conceivable for the traction motor 28 a more robust asynchronous motor with an inverter to use.

The differential 23 can be replaced by two traction motors which are via an electronic synchronization control and an electronically controlled limited slip differential with each other are coupled.

• Die zueinander beabstandeten und durch ein Ausgleichsgetriebe wirkverbundenen Antriebsräder 25 reduzieren das notwendige Drehmoment; ebenfalls wird der resultierende Schlupf bei Kurvenfahrten geringer, so dass Bodenbeläge wie Teppiche geschont werden, die Sicherheit wird erhöht.
• Der Einbezug eines Schneckengetriebes erlaubt den Einsatz von kleinen, relativ hochtourigen Antriebsmitteln 21-25, ohne dass die Zugleistung des Fahrzeugs, beispielsweise bei unebenen und/oder steigenden Fahrbahnen, beeinträchtigt sind.
• In bezug auf den Fahrkomfort und die Stabilität haben sich Lauf-Rollen, welche gegenüber den Antriebsrollen einen grösseren Durchmesser aufweisen, bewährt.
• Ein unter dem Sitz des Rollstuhlfahrers angeordnetes Planetengetriebe, welches mit seiner Hauptachse die Antriebsmittel 21-25 in die gewünschte Fahrrichtung dreht, ist besonders wartungsarm und erlaubt eine präzise Steuerung.

In practice, the wheelchair described above is characterized in particular by the following advantages:

• The drive wheels 25, which are spaced apart and operatively connected by means of a differential gear, reduce the necessary torque; the resulting slip when cornering is also reduced, so that floor coverings such as carpets are protected, safety is increased.
• The inclusion of a worm gear allows the use of small, relatively high-speed drive means 21-25 without the tractive effort of the vehicle being impaired, for example on uneven and / or rising road surfaces.
• In terms of driving comfort and stability, castors which have a larger diameter than the drive rollers have proven themselves.
• A planetary gear arranged under the seat of the wheelchair user, which with its main axis rotates the drive means 21-25 in the desired direction of travel, is particularly low-maintenance and allows precise control.

Several, height-adjustable drive shafts could also be used 24 are provided with corresponding drive wheels 25 the wheelchair in the manner of a stair cart optimally accessible by stairs to design. Individually height-adjustable are also conceivable Rollers 18, which, controlled by a level sensor, extend if the wheelchair threatens to tip over.

The wheelchair described mainly serves the elderly, who stay in their "own four walls" for as long as possible and want to use the usual infrastructure. It is advisable therefore, the seat is also electromechanical and / or to be hydraulically adjustable in height.

The following are preferred further developments of the wheelchair described, which in particular one, compared to the above Embodiment further improved "off-road capability" exhibit.

The second variant of a wheelchair 1, FIG. 5, in turn has a backrest 2 and a seat 3 over a molded body 7. The armrests 4 with supports 5 and spring clips 6 'are also designed similar to FIG. 1. In the direction of travel viewed on the right side, the wheelchair 1 has a joystick 50 in the manner of a joy stick, which on a Remote 51 is arranged with displays. Below the control panel 51 control connections 26 are provided, which in FIG shown electrically with control electronics 65 are connected.

On the molded body 7, flanged centrally, is a resiliently designed Support column 9. Located on both sides of the support column 9 itself clamping plates 62, which fix horizontal tubes 57 and Components of a frame for a footrest are. Below of the clamping plates 62 there are two accumulators 12 ' which are stored on a support 13 'with an integrated charger are. A charging connection is arranged in front of an accumulator 12 ' 64 with controller, which in turn periodically over any Mains cable is fed for recharging. In the lower part of the Support column 9, the pin-like part 9 'is provided with a flange and stored in a base 16. The base 16 points also five rollers 18 on roller axes 19 on rotatable Bearing yokes 17 on.

Is firmly connected to the support column 9 and the base 16 a drive unit with two drive wheels 25, which over Drive shafts 24 and worm gear 27 'and 27 "with motors 28 'and 28 "is equipped.

The worm gears 27 'and 27 "are single drives designed and with their traction motors 28 'and 28 "each on one Trailing arm swing arm 70 mounted.

Further details can be found in FIG. 6. Here is in addition to FIG. 5 a backrest setting 2 ′ can be seen; likewise the formal design of the armrests 4, which are adaptable via clamping plates 53. On the front support 5 is a remote bracket 52, which is also is adjustable.

The construction of the footrest can be seen in more detail. On the horizontal tube 57 there are inclined tubes 58 and 58 ' connected by joints 59 and end in a foot plate joint 60 with a tiltable footplate 61, which serves as a stand-up aid serves. - The joints 59 with their tubes 58, 58 'via means known per se (clamping bushes, collets and central screws) in the individual position fixed.

6 shows the outer shape of the trailing arm rocker 70 with their bearings and the swing axis 71, as well a gas spring cylinder 72, the top of a bearing 75, is pivotally attached to the base 16 and over his Gas spring piston 73 on a lower bearing 74 on the worm gear 27 "which engages with the Trailing arm swing arm 70 is connected. On the worm gear 27 "a drive motor 28" is flanged on.

It can be seen from FIG. 6 that the functional parts 70 to 75 form a kind of semi-trailing arm and a height compensation h allow, the pivoting or swinging movement accordingly the direction of the two arrows and the End positions of the drive wheel 25 and the traction motor 28 " are shown in dash-dotted lines.

The illustration in FIG. 7 reveals further details, where - for drawing reasons - the seat 3, or the chair 1 are not shown. You can also use the articulated design of the tube 57 to 58 'formed Recognize frame; additionally a strut 63.

5 in conjunction with FIGS. 6 and 7 shows that the wheelchair 1 has a very stable driving behavior must have and due to its low center of gravity is safe from tipping over, even with unevenness. The swinging Independent wheel drive gives very good traction; of the Contact pressure of the drive wheels 25 can be selected by the Gas spring 72-73 can be predetermined.

When driving straight ahead, the two drive motors 28 ′, 28 ″ run toward one another synchronous. Changes in the present embodiment the control electronics controlled by the position of the joystick 50 65, through appropriate connections and not drawn electrical lines the speed of the drive motors 28 'and 28 "so that a curve is made optionally with a large or small radius, i.e. It is a Possible to turn on site.

In another variant, not specifically shown an azimuth drive as shown in Fig. 2 is provided; Combinations of both control options would be one result in maximum ease of use. Disadvantages are the additional weight and the corresponding economic Expenditure.

The third variant, FIGS. 8 to 10, of a wheelchair 1 with a four-armed base 16 ', differs from the second variant Fig. 5 to Fig. 7 essential through their two wishbone rocker arms 80, which are in swing axes 71 'are stored. The other components are equal; are only due to the concentric training of the drive systems, planetary gear 81 instead of Worm gear kicked.

Figures 8 and 10 impressively show the high stability of the wheelchair 1. However, they are disadvantageous resulting relatively large curve radii, so that this type of construction rather as a wheelchair for outdoor use is cheap.

The fourth variant, Fig. 11, 12 has a central wishbone support 90, Fig. 11, on which four joint members 91st attack which is the lead of the suspension of the two Worm gear 27 "serve. The worm gear 27" with their two traction motors 28 'and 28 "are additionally about each two gas pressure springs 72 and 92 at the base 16 'leveling arranged.

The example, Fig. 11, with a floor survey E shows the Operation of the device.

12 shows a partial sectional view in the longitudinal axis, that four lifting cylinders 92 are provided, which the Lift or swivel drive wheels 25 vertically can.

The suspension is opposite the second and third variants the drives in their deflection very limited, which the Use of the wheelchair for special applications, for example suggested for sports purposes.

The wheelchairs of variants two to four all have them one that folds down and serves for side entry and exit Armrest 4. According to FIG. 13, a folding device 54 provided that the two spring clips 6 'adjustable between two clamping plates 53 fixed and on a hinge 55 is mounted below the seat 3.

In Fig. 13 is also in dash-dotted lines Armrest 4 shown with its supports 5 in the folded state. This position of the armrest 4 allows this relatively easy entry and exit even of severely disabled people People.

The folding device is fixed by a locking screw 56 with a lock known per se.

The foot plate 61, Fig. 6, 7, 9, 10 and 12 can be on her Adjust the frame so that it can be used as a stand-up aid serves. The deep focus in all embodiments prevents overturning, i.e. the footplate 61 lies flat on the floor while the wheelchair is with its rear wheels stand out slightly from the ground thus with the ideal inclination to stand up the wheelchair user sets. - Depending on the degree of disability the wheelchair user himself, by shifting his weight in Direction of travel, or with the help of a caregiver, initiate the required tilting movement.

The exemplary embodiments can of course also be used their construction elements and their characteristics with each other combine, so that individually the needs and disabilities customized wheelchairs created on a modular basis can be. By known mechanical and / or electromechanical means, the drives can be easily disengage so that the wheelchairs are maneuverable, for example by nursing staff - comparisons Lift cylinder 92, FIGS. 11 and 12.

Claims (10)

Multi-lane wheelchair with motor drive and at least a central, controllable drive wheel (25) and one, at least three-armed base (16) with vertical rollers (18) which can be pivoted about vertical axes, thereby characterized in that drive means (21-28 ") as longitudinal, Inclined or wishbone axle (70-75; 80, 81) formed and that at least one, the support element (70; 80; 90) of the trailing, oblique or wishbone axle (70-75; 80, 81) opposite spring / damping device (72; 92) is provided so that floor unevenness and / or obstacles due to the drive means mounted so that they can vibrate (21-28 ") and at least partial traction balanced will. Wheelchair according to claim 1, characterized in that the spring / damping device (72; 92) is a gas pressure spring which is a contact pressure on the drive wheel (25) exercises and at the same time allows height adjustment (h). Wheelchair according to claim 1 or 2, characterized in that the drive means (21-28 ") electric motors included, the speed either individually or can be controlled synchronously with one another. Wheelchair according to one of claims 1 to 3, characterized in that the drive means (28-28 ") and / or whose gears (15; 27; 81) each with a clutch the drive wheel (25) are connected or that the drive wheel (25) is designed to be liftable. Wheelchair according to claim 1, characterized in that under the seat (3) a planetary gear (31, 33) is provided, which the seat (3) and the drive wheel (25) rotates opposite the star base (16). Wheelchair according to one of claims 1 to 4, characterized in that that the rollers (18) opposite the drive wheels (25) have larger diameters. Multi-lane wheelchair with motor drive and at least a central, controllable drive wheel (25) and one, at least three-armed base (16) with vertical rollers (18) pivotable about their axes, characterized in that that directly or indirectly on the seat (3) a base layer frame (58, 61) is arranged, which has a foldable footrest (61). Wheelchair according to claim 1 or 7, characterized in that directly or indirectly on the seat (3) Armrests (4) with supports (5) are arranged, which are foldable. Wheelchair according to claim 8, characterized in that at the arm rests (4) and / or at their supports (5) electrical control connections (26) are provided, which adapted to the driver's disability Actuator can be connected. Wheelchair according to claim 9, characterized in that the actuator is in the form of a joystick (50) which is the angular position of the drive means (28-28 ") and the speed of the drive motor (28) controls.

Images